基于耦合的Vitual Lab Motion AMESim的下肢外骨骼机电液系统建模及仿真分析

摘要

Virtual lab motion was used to structural modeling for lower limb exoskeleton. Ideal control curve of design system of the hydraulic cylinder was obtained through the inverse kinematics analysis on the basis of the existing clinical gait analysis data which was the relationship of the joint angle with time, which was the relationship of hydraulic cylinder’s displacement with time. Pressure and flow rate of the electric hydraulic system were calculated based on the result of simulation about arm of force and speed of the hydraulic cylinder, and rationality of the system was authenticated by use of coupling simulation of virtual lab motion and AMESim.%利用Virtual Lab Motion对下肢外骨骼进行了结构建模。依据现有的临床步态分析数据———关节角度随时间的变化关系，通过运动学分析逆向得出所设计系统各个液压缸的理想控制曲线，即液压缸位移随时间的变化关系。依据仿真得到的力臂及液压缸速度可对电液系统的压力和流量进行估算，利用Virtual Lab Motion与AMESim的耦合仿真验证了系统的合理性。